TEK4030 – Control of Manipulators and Mobile Robots

After completing the course, you

• understand advanced controllers for manipulators, such as multivariable control, force control, visual servoing, and tele-operation
• have knowledge of how to plan the robot's movements
• understand the characteristics of mobile robots, i.e. kinematics and dynamics, and how to plan and follow trajectories
• can use controllers on a physical robot
• can use theory of mobile robots to get a mobile robot to navigate around obstacles
• can use Robotic Operation System "ROS" to control robots

Students admitted at UiO must apply for courses in Studentweb. Students enrolled in other Master's Degree Programmes can, on application, be admitted to the course if this is cleared by their own study programme.

Nordic citizens and applicants residing in the Nordic countries may apply to take this course as a single course student.

If you are not already enrolled as a student at UiO, please see our information about admission requirements and procedures for international applicants.

Knowledge from IN3140 – Introduction to Robotics, TEK4040 – Mathematical Modelling of Dynamic Systems or similar is recommended.

For students without the courses IN1000 – Introduction to Object-oriented Programming or IN1900 – Introduction to Programming with Scientific Applications, MAT1110 – Calculus and Linear Algebra, as well as knowledge of Laplace transformation, this course will require more work.

The teaching includes two hours of lectures and one hour exercise/lab each week throughout the semester.

This course has three mandatory assignments during the semester, where some include lab work. All three mandatory assignments must be approved before you can sit the final exam.

• A final written exam counts 100% towards the final grade.

In case of less students, the final exam may be oral.

This course has three mandatory assignments, which must be approved before you can sit the final exam.

When writing your exercises make sure to familiarize yourself with the rules for use of sources and citations. Breach of these rules may lead to suspicion of attempted cheating.

Students who can document a valid reason for absence from the regular examination are offered a postponed examination at the beginning of the next semester.

Re-scheduled examinations are not offered to students who withdraw during, or did not pass, the original examination.